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Stochastic Hamilton's principle and noisy sliding surfaces in the tracking control of manipulators

Published online by Cambridge University Press:  09 March 2009

Guy Jumarie
Guy Jumarie
Affiliation:
Department of Mathematics, Université du Québec à Montréal, P.O. Box 8888, Downtown St., Montréal, Quebec, H3C 3P8, (Canada)
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Summary

In the tracking control of manipulators via the sliding scheme, it may happen that sometimes, because of various inaccuracies, the definition of the actual sliding surface involves errors terms which may be either deterministic or, on the contrary, stochastic. This paper considers this last case and shows how one can estimate the new performances of the system so disturbed. A stochastic Hamilton's principle is applied, by combining the Lagrange parameter technique with results of the dynamic programming approach.

Keywords

Lagrangian systemsHamilton's principleTracking controlStochastic systemsSliding surfaces
Type
Articles
Information
Robotica , Volume 13 , Issue 2 , March 1995 , pp. 209 - 213
Copyright
Copyright © Cambridge University Press 1995

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References

1.Jumarie, G.,“Forces of reaction and neighbouring Hamilton's principle in the tracking control of manipulators via sliding scheme” Robotica 11, Part 2227–232 (1993).CrossRefGoogle Scholar
2.Stengel, R. F., Stochastic Optimal Control (Wiley, New York, 1986).Google Scholar
3.Asada, H. and Slotine, J. J., Robot Analysis (Wiley, NewYork, 1986).Google Scholar